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<div class="textblock"><code>#include &lt;iostream&gt;</code><br />
<code>#include &lt;array&gt;</code><br />
<code>#include &lt;stdexcept&gt;</code><br />
<code>#include &lt;math.h&gt;</code><br />
<code>#include &lt;Eigen/Eigen&gt;</code><br />
<code>#include &quot;blmc_drivers/devices/motor.hpp&quot;</code><br />
<code>#include &quot;<a class="el" href="common__header_8hpp_source.html">blmc_robots/common_header.hpp</a>&quot;</code><br />
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<p><a href="blmc__joint__module_8hpp_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
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Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structblmc__robots_1_1HomingState.html">blmc_robots::HomingState</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">State variables required for the homing.  <a href="structblmc__robots_1_1HomingState.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModule.html">blmc_robots::BlmcJointModule</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">The <a class="el" href="classblmc__robots_1_1BlmcJointModule.html" title="The BlmcJointModule class is containing the joint information. ">BlmcJointModule</a> class is containing the joint information.  <a href="classblmc__robots_1_1BlmcJointModule.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html">blmc_robots::BlmcJointModules&lt; COUNT &gt;</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This class defines an interface to a collection of BLMC joints.  <a href="classblmc__robots_1_1BlmcJointModules.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="memitem:aa5066dce11e2e3ae56b844676b132a09"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa5066dce11e2e3ae56b844676b132a09"></a>
typedef std::shared_ptr&lt; BlmcJointModule &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#aa5066dce11e2e3ae56b844676b132a09">blmc_robots::BlmcJointModule_ptr</a></td></tr>
<tr class="memdesc:aa5066dce11e2e3ae56b844676b132a09"><td class="mdescLeft">&#160;</td><td class="mdescRight">BlmcJointModule_ptr shortcut for the shared pointer <a class="el" href="classblmc__robots_1_1BlmcJointModule.html" title="The BlmcJointModule class is containing the joint information. ">BlmcJointModule</a> type. <br /></td></tr>
<tr class="separator:aa5066dce11e2e3ae56b844676b132a09"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Enumerations</h2></td></tr>
<tr class="memitem:aa1075809042ff261e4b0a20d161448b6"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6">blmc_robots::HomingReturnCode</a> { <a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6a02de9649e258d1dd94056e676061e969">blmc_robots::HomingReturnCode::NOT_INITIALIZED</a> = 0, 
<a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6a43491564ebcfd38568918efbd6e840fd">blmc_robots::HomingReturnCode::RUNNING</a>, 
<a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6afd9f6519d3f45276829fe74eb2c4bb85">blmc_robots::HomingReturnCode::SUCCEEDED</a>, 
<a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6ab9e14d9b2886bcff408b85aefa780419">blmc_robots::HomingReturnCode::FAILED</a>
 }<tr class="memdesc:aa1075809042ff261e4b0a20d161448b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Possible return values of the homing.  <a href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6">More...</a><br /></td></tr>
</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Manuel Wuthrich </dd>
<dd>
Maximilien Naveau (<a href="#" onclick="location.href='mai'+'lto:'+'max'+'im'+'ili'+'en'+'.na'+'ve'+'au@'+'gm'+'ail'+'.c'+'om'; return false;">maxim<span style="display: none;">.nosp@m.</span>ilie<span style="display: none;">.nosp@m.</span>n.nav<span style="display: none;">.nosp@m.</span>eau@<span style="display: none;">.nosp@m.</span>gmail<span style="display: none;">.nosp@m.</span>.com</a>)  License BSD-3-Clause </dd></dl>
<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2019, New York University and Max Planck Gesellschaft. </dd></dl>
<dl class="section date"><dt>Date</dt><dd>2019-07-11 </dd></dl>
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